Bumpless transfer and fading memory for adaptive switching control

This dissertation mainly focuses on implementation techniques for adaptive switching control. Adaptive switching control can generate bad transients in controller output. These bad transients can be reduced by various bumpless transfer techniques. A new bumpless transfer technique is developed based on slow-fast controller decomposition. This technique is especially well-suited to situations in which the plant model is poor or yet to be identified, as may be the case in adaptive switching control.;A new cost function with fading memory and a finite-duration time-window is introduced in order to reduce the effect of old data in unfalsified adaptive control applications where the plant varies slowly or infrequently with time. The effectiveness of the approach is demonstrated via a simple simulation. The result demonstrates that a time-windowed/fading-memory cost function for unfalsified control is useful for adaptive control system with time-varying plants, even when the plant fails to satisfy the usual 'feasibility' requirement of unfalsified control that it must be stabilizable by at least one of the candidate controllers.